dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

EKF: Enable origin to be maintained when starting aiding using EV only 

When starting aiding using EV only and commencing GPS aiding later, this change means that the GPS origin is set to the local position 0,0 point rather than the current vehicle position. This avoids large changes in local position when GPs aiding starts.
This commit is contained in:
Paul Riseborough 2017-07-29 15:31:34 +10:00
parent e08da1c599
commit 3ee6898710
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
EKF/gps_checks.cpp
View File

@ -68,7 +68,7 @@ bool Ekf::collect_gps(uint64_t time_usec, struct gps_message *gps)
map_projection_init_timestamped(&_pos_ref, lat, lon, _time_last_imu);
// if we are already doing aiding, corect for the change in posiiton since the EKF started navigating
if (_control_status.flags.opt_flow || _control_status.flags.gps) {
if (_control_status.flags.opt_flow || _control_status.flags.gps || _control_status.flags.ev_pos) {
double est_lat, est_lon;
map_projection_reproject(&_pos_ref, -_state.pos(0), -_state.pos(1), &est_lat, &est_lon);
map_projection_init_timestamped(&_pos_ref, est_lat, est_lon, _time_last_imu);